Replaceable tip suturing devices, system, and methods for use with differing needles

ABSTRACT

Medical suturing devices, systems, and methods will be useful for endoscopic or open surgeries, including ear, nose, and throat procedures. Articulation motions may be transferred from a handle to needle grasping jaws using an axial movement of a shaft. Portions of the devices may be disposable, replaceable, and/or reusable, with different needle-grasping jaws and/or different elongate extension bodies having different configurations optionally being selectably coupleably to an articulatable handle and housing so as to allow the user to configure the device for a particular procedure.

CROSS-REFERENCE TO RELATED APPLICATION

This application is a continuation of U.S. patent application Ser. No. 14/085,574 filed on Nov. 20, 2013, which is a continuation of U.S. patent application Ser. No. 12/049,545, filed on Mar. 17, 2008, now U.S. Pat. No. 8,617,187, which claims the benefit of priority from U.S. Provisional Patent Application No. 60/895,058, filed on Mar. 15, 2007 and entitled “SUTURING DEVICE, SYSTEM, AND METHOD,” the full disclosures of which are incorporated herein by reference.

The subject matter of this application is related to that of U.S. patent application Ser. No. 12/049,552, filed Mar. 17, 2008 and entitled “LIMITED ACCESS SUTURING DEVICES, SYSTEM, AND METHODS,” and to that of U.S. patent application Ser. No. 11/532,032, filed Sep. 14, 2006 and entitled “SUTURING DEVICE, SYSTEM, AND METHOD,” which is a continuation-in-part of U.S. patent application Ser. No. 11/227,981 filed Sep. 14, 2005, the full disclosures of which are incorporated herein by reference.

BACKGROUND OF THE. INVENTION

The present invention generally relates to medical devices, systems, and methods. In specific embodiments, the invention provides devices, systems, and methods for suturing tissues in open surgery, minimally invasive surgical procedures, and the like.

Although many aspects of surgery have changed radically over the last several decades, some surgical techniques have remained remarkably constant. For example, as was true fifty years ago, suturing remains a common technique for approximation of tissues, ligation of tissues, affixing tissues together, and the like.

Suture has been used in open surgical procedures for generations to therapeutically treat diseased tissue and to close surgical access sites and other wounds. More recently, the use of minimally invasive surgical techniques has expanded, with surgical therapies often being performed at internal surgical sites. Although a wide variety of visualization techniques (including laparoscopes and other endoscopic viewing devices, fluoroscopy and other remote imaging modalities, and the like) have been developed to allow surgeons to view these internal surgical sites, and although a large variety of new tissue treatment techniques have been developed (including ultrasound techniques, electrosurgical techniques, cryosurgical techniques, and the like) and are now widely available, many modern surgical interventions continue to rely on suturing.

A wide variety of alternatives to suturing of tissues have been developed, and have gained varying degrees of acceptance in certain surgical procedures. Staples and tissue adhesives are used quite frequently in many open and minimally invasive surgical settings, and a variety of tissue welding techniques have also been proposed. Nonetheless, suturing remains ubiquitous in surgery, as suturing provides a number of advantages over many of the alternatives.

Suture's advantages include the large knowledge and skill base that surgeons have developed over the years. Additionally, a variety of off-the-shelf, pre-packaged surgical needles with suture are available from a large number of suppliers at very reasonable cost. Surgeons are able to precisely control the location of suture stitches by grasping the suture needle and first pushing it and then pulling it through the target tissue. In open surgery the surgeon may manually grasp the suture needle directly with his or her hand, although both open and minimally invasive procedures are often performed by grasping the needle with a needle grasping tool and manipulating the tool to place the suture stitches. The results obtained using suture are highly predictable, although dependent on the skill of the surgeon. In light of its advantages, the use of suture does not appear likely to disappear any time soon, with even modern robotic surgical techniques often making use of suture.

Although suture remains popular in surgery at least in part due to its significant advantages, suturing is not without disadvantages. In particular, placing a large number of suture stitches can be tiring and quite time-consuming. Manipulation of a suture needle can be difficult even in open surgery due to the limited space that is often available around the target tissues. The challenges of manipulating suture needles may be even greater in minimally invasive surgical procedures, where the needles are often manipulated using long-handled tools extending through a small aperture, typically while viewing the procedure on a display which is offset from the surgical site. Tying knots with a desired amount of tension and the like may call for intricate and precise manipulation of the suture, further complicating and delaying open and minimally-invasive surgeries. In fact, the time spent closing/suturing the access site may be significantly greater than the time spent treating the underlying target tissues for many procedures.

There have been a variety of proposals for modifications to standard surgical suturing structures and methods to try to address the above disadvantages. At least some of these proposals may seek to rely on specialized and/or proprietary suturing needle systems, which could increase costs and preclude their wide acceptance, especially in third world countries. Unfortunately, many proposals for modifying existing suturing techniques may also decrease the surgeon's control over the placement of the suture, such as by relying on an automated or indirect mechanical movement of a device to drive a suture needle into and/or through tissues. While these new proposals have in the past or may in the future gain varying degrees of acceptance in one or more surgical procedures, standard suturing techniques continue to predominate throughout surgery in general.

In light of the above, it would be desirable to provide improved suturing devices, systems, and methods. It would be generally desirable to maintain some, most, or all of the advantages of standard suturing techniques, preferably while decreasing the time required for suturing, the strain on the surgeon, the training involved in achieving competence or time-efficiency in suturing techniques, or the like. It would be particularly advantageous if these improvements could be provided without requiring extensive capital investments for new equipment, without significant increases in complexity of the suturing process, or without having to resort to specialized or proprietary suturing needles and the like. Alternative needle grasper structures which increased the ease and accuracy of stitching, and/or which are readily adapted for a variety of different procedures and patient physiologies would also be desirable.

BRIEF SUMMARY OF THE INVENTION

The present invention generally provides improved medical suturing devices, systems, and methods. Embodiments of the invention provide improved suturing systems, devices and methods that maintain some or all of the advantages of standard open and/or minimally invasive suturing techniques while providing enhanced speed and ease of use. While some embodiments will find uses in a wide range of open surgical procedures, many advantageous embodiments will be particularly useful for endoscopic surgeries. Articulation motions may be transferred from a handle to needle grasping jaws using an axial movement of a shaft that has axial stiffness (such as being stiff in compression or the like) and lateral flexibility, allowing an extension body (within which the shaft moves) between the handle and jaws to be pre-bent or custom bent by the user for a particular surgery. Portions of the devices may be disposable, replaceable, and/or reusable, with different needle-grasping jaws and/or different elongate extension bodies having different configurations often being selectably coupled to an articulatable handle and housing so as to allow the user to configure the device for a particular procedure. Exemplary embodiments include a re-usable drive body containing at least a portion of a drive linkage and a plurality of alternatively selectable clamp units, with the clamp units being configured to accommodate the geometry of differing suture needles.

In a first aspect, the invention provides a suturing system for use with a first suturing needle or a second suturing needle. The system comprises a body having a proximal end and a distal end. At least one clamp is mountable near the distal end of the body, and a linkage effects a movement of the at least one clamp between a grasping configuration and a released configuration. The linkage has a first configuration and a second configuration, the linkage in the first configuration applying a first clamping of the clamp(s) suitable for suturing with the first suturing needle when the linkage effects movement from the released configuration to the grasping configuration. The linkage in the second configuration applies a second clamping of the clamp(s), suitable for suturing with the second needle when the linkage effects movement from the released configuration to the grasping configuration.

In many embodiments, the first needle will define a first arc, the second needle will define a second arc different than the first arc, and the suturing system will also include a first clamp unit and a second clamp unit. Each clamp unit can be removably mountable to the body and include an associated plurality of clamps. The clamps are configured to sequentially grasp an associated needle when the clamp unit is mounted to the body and the linkage is cycled. The clamps of first clamp unit define a first clamping offset angle corresponding to the first arc, while the clamps of second clamp unit define a second clamping offset angle corresponding to the second arc. Hence, replacement of the first clamp unit with the second clamp unit reconfigures the linkage from the first configuration to the second configuration.

In another aspect, the invention provides a suturing system for use with a first suturing needle having a first needle geometry and a second suturing needle having a second needle geometry different than the first needle geometry. The system comprises a drive unit having a body with a proximal end and a distal end. A first clamp unit is mountable near the distal end of the body and includes a plurality of clamps. A second clamp unit is mountable near the distal end of the body and also includes a plurality of clamps. A linkage operationally couples the drive unit to an associated clamp unit mounted thereon. The linkage effects sequentially alternating grasping and releasing by the clamps of the first clamp unit when the first clamp unit is mounted to the drive unit and the linkage is cycled. The grasping of the first clamp unit corresponding to the geometry of the first needle. The linkage also effects sequentially alternating grasping and releasing by the clamps of the second drive unit when the second clamp unit is mounted to the drive unit and the linkage is cycled. The grasping of the second clamp unit corresponds to the geometry of the second needle.

The clamps of the first drive unit will often be laterally separated so as to grasp the first needle sufficiently near opposed ends of the needle so as to allow the needle to be advanced into and through a tissue region while held with one clamp, and so as to allow the needle to be grasped and pulled free of the tissue by the other clamp. Cycling of the linkage effects needle movement relative to the body which is insufficient to advance the first needle through tissue so that suturing is instead effected by moving the body relative to the tissue.

Each clamp often articulates with cycling of the linkage so as to grasp the needle laterally relative to a local axis of the needle. The clamps of the first clamp unit may be angularly offset by a first angle so as to accommodate a first arc angle of the first needle geometry between the clamps, while the clamps of the second clamp unit can be angularly offset by a second angle so as to accommodate a second (and different) arc angle of the second needle geometry between the clamps. The clamping geometry may also vary between the clamp units to reflect differences in radii of curvature of the needles, length of the needles (and appropriate tissue suture or needle insertion and exit separations), and the like. In some embodiments, the clamps may be supported by tubular extensions that accommodate shaft motion to articulate the clamps, with the extensions residing on the drive unit, clamp unit, or both. The extensions of at least one clamp unit may angle outwardly and distally so as to accommodate a larger needle than another clamp unit having extensions that are parallel to each other. Alternative extensions may angle inwardly and distally so as to accommodate smaller needle sizes. The needle size may correspond to the length of the extensions, even where the angles between extensions of different clamp units are the same. In some embodiments, the extensions may articulate from a parallel orientation to an angled orientation with cycling of the linkage, such as through the use of a straight or curved cam-and-follower arrangement or the like supporting the extension. Optionally, each suturing needle may comprise an off-the-shelf suturing needle having a standard size identifier associated therewith. Each clamp unit may have indicia of an associated needle size visible thereon so as to facilitate selection of an appropriate clamp unit for use.

In many embodiments, the clamp units may include one or more polymer (such as a plastic, high density polyethylene, or the like), with at least the needle engaging surfaces of the clamp units including metal (such as a medical grade stainless steel, stainless steel alloy, titanium grades 1-4, or the like). The drive unit may include metal (and/or any of the materials listed above for the clamp unit) and will often be configured to withstand repeated sterilization.

In another aspect, the invention provides a suturing system for use with a plurality of differing suturing needles. The system comprises a drive unit having a body with a proximal end and a distal end. A plurality of alternative clamp units may be releasably mountable to the distal end of the drive body. Each clamp unit can have a plurality of clamps for engaging an associated plurality of locations of an associated needle. The clamps of the clamp units can define different geometries so as to accommodate the differing needles and their use for suturing differing tissues.

In another aspect, the invention provides an apparatus for use with a suture needle. The needle may be selected from among a plurality of differing suturing needles, with each needle having an axis. The apparatus may also be for use with a drive unit having a body with a proximal end and a distal end, an interface near the distal end, and a drive unit linkage portion. The apparatus may comprise a clamp unit releasably mountable to the interface of the drive body. The clamp unit may have a plurality of clamps and a clamp unit linkage portion actuated by the drive unit linkage portion. The clamp unit can be mounted to the drive unit and, in use, the linkage may alternatingly actuate the clamps. The clamps may define a geometry corresponding to the selected needle so as to grasp axially separated locations of the needle.

In yet another aspect, the invention provides a suturing apparatus for use with a plurality of differing suturing needles and an associated plurality of alternative clamp units. The clamp units each having a plurality of clamps for engaging an associated plurality of locations of the associated needle, the clamp units defining different geometry therebetween so as to accommodate the differing needles. The apparatus comprises a drive unit having a body with a proximal end and a distal end. An interface may be disposed near the distal end of the body, the interface selectably receiving any of the plurality of alternative clamp units. A drive linkage portion may be configured to drivingly couple to the clamps of the selected clamp unit mounted to the interface so as to alternately articulate the clamps suitably for grasping the associated needle.

In other embodiments, related suturing devices may have bodies (optionally being incorporated into either the drive body or the clamp unit or both) that including an elongate extension extending along an axis toward the distal end. The extension may define a bend in the axis, with a first clamp being disposed near the distal end of the body. The linkage may comprise a shaft or tension member movable along the axis within the extension so as to effect the movement of the clamp. The shaft may be laterally flexible so as to transmit axial movement and accommodate the bend. The extension may comprises a plastically deformable tubular body sufficiently stiff to allow support the needle relative to the proximal end during suturing, and sufficiently deformable to allow manual imposition of the bend, preferably without collapsing or kinking of a tubular opening in the extension that receives the shaft. Alternative embodiments may be pre-bent.

The clamps may comprises first and second jaw elements, each having needle grasping surfaces, wherein each jaw element has a slide surface for slidably engaging a wedge surface of the linkage. Axial movement of a shaft within a tubular body of the drive unit and/or clamp unit can thereby effect sliding movement of the wedge along the slide surfaces of the jaws so as articulate the clamp. In some embodiments, axial movement of the wedge in a first axial direction forces the clamp toward a closed configuration, while axial movement of the wedge in a second axial direction allows a spring to urge the clamp open with a spring-imposed jaw opening force. At least a portion of the shaft will often be movable axially to articulate the clamp, and the shaft and tubular bodies will be releasably coupleable to corresponding structures of the drive unit via a quickly replaceable clamp unit interface. A plurality of alternative releasably attachable clamp units may also be provided, the various clamp units, when mounted to the proximal portion, defining different bend angles, extension lengths, clamping forces, needle sizes, and/or clamp types. The clamp unit may comprises one or more polymer, and the needle grasping surfaces of the clamp unit may comprise a metal so that the clamp unit is disposable. In other embodiments, the clamp unit comprises metal and is configured to withstand repeated sterilization.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a perspective view of an exemplary embodiment of a suturing device with one of the clamps of the suturing device grasping a suturing needle.

FIG. 2 is a perspective view of a proximal portion of the suturing device of FIG. 1, with a cover removed from a proximal housing of the suturing device to show a portion of a linkage coupling a handle of the suturing device to the clamps of the suturing device.

FIG. 3 is an exploded perspective view of co pone of the linkage shown in FIG. 2.

FIG. 4 is an exploded view of a distal portion of the suturing device of FIG. 1, showing components of a clamp along with a reciprocatable shaft and elements of the linkage that effect movement of the reciprocatable shaft and actuation of the clamp.

FIGS. 5-9 are perspective views showing use of the device of FIG. 1 for suturing tissues.

FIG. 10 is a perspective view of an alternative suturing device having first and second clamps which both reciprocate and rotate away from a suturing needle after releasing of the needle from the clamp.

FIGS. 11A and 11B illustrate an exemplary suturing device in which the clamps are releasably coupled to the body of the device, allowing the clamps to be disposable to avoid cross contamination between differing patients without having to sterilize the clamp structures.

FIGS. 12A and 12B are a side view and top cross-sectional view, respectively, of another embodiment of a suturing device having a drive linkage with an alternatable drive element for moving first one clamp and then the other, and also having an alternatable latch for inhibiting movement of the clamp that is not being driven.

FIG. 13 is an exploded view schematically showing some of the components of the drive linkage of the suturing device of FIGS. 12A and 12B.

FIGS. 13A-13M are cross-sectional views schematically illustrating actuation of the linkage of the suturing device of FIGS. 12A and 12B.

FIGS. 14A-14C are perspective views of a distal portion of an alternative suturing mechanism in which axially offset clamps alternately grasp proximal and distal portions of a ski-jump suturing needle.

FIG. 15 is a perspective view of an alternative suturing device having a single needle-grasping clamp.

FIG. 16 is a side view schematically illustrating a suturing device similar to that of FIG. 12A in which an extension of the body between the clamps and proximal housing has been manually bent for a particular patient, in which the clamps are actuatable through the bent extension, and which is being grasped by a hand of a surgeon.

FIGS. 17A-D schematically illustrate an alternative suture device having a plastically bendable extension and a laterally flexible shaft so as to facilitate custom bending or configuring of the suture device by the user for a particular surgery.

FIGS. 18A-18C illustrate a perspective view, a side view, and an exploded view, respectively, of an alternative embodiment of a suturing device similar to that of FIGS. 11A and 11B, in which the clamps are included in a rapidly detachable clamp unit, and in which the clamp unit is latched to the drive unit by sliding a cover of the drive unit distally.

FIG. 19 schematically illustrates a suture system having a plurality of differing needle sizes or types, an associated plurality of differing clamp units, and a drive unit that removably receives any of the clamp units.

FIGS. 20A-20C schematically illustrate differing suture needle sizes having differing geometry, along with simplified associated differing clamp geometry of suturing devices for manipulating those needles.

FIGS. 21A-21C are perspective views showing an assembled suture system having extensions which angle outwardly distally of the drive unit so as to accommodate a large needle, the associated angled clamp unit, and the associated drive unit, respectively.

FIGS. 22A and 22B schematically illustrate differing angled clamp unit extensions having a common angle and differing lengths so as to accommodate differing needle sizes.

FIGS. 23A-23C schematically illustrate how appropriate overshoot of the clamps and stressing of the needle can help maintain positioning of the needle relative to the clamps when the needle geometry and clamp geometry correspond.

FIGS. 24A-24C schematically illustrate actuation of a clamp unit having angled extensions.

FIGS. 25A-25C illustrate differing clamp units and their indicia of associated needle sizes or types.

FIG. 26 illustrates a clamp unit having an elongate extension for use in minim invasive surgery.

DETAILED DESCRIPTION OF THE INVENTION

The present invention is generally directed to improved medical suturing devices, systems, and methods. Exemplary embodiments of the invention provide improved suturing devices and methods for suturing tissues that can significantly increase the speed and ease of suturing, particular when suturing of long incisions or where large numbers of stitches are to be deployed.

The invention should find a wide variety of applications for stitching anatomical tissues in both humans and animals. Along with endoscopic operations (for example, in laparoscopy) these structures and methods may find use in other areas of surgery where tissues are to be stitched, providing particular advantages for stitching of large incisions by increasing the ease and speed with which each individual stitch may be placed, as well as facilitating and expediting the formation of knots in the suture. The suturing devices and associated methods described herein may, for example, be used to suture a wide variety of strata of anatomical tissues, including (but not limited to) subcutaneous layers, fascia, the outer skin, various organs (including the uterus), and the like. While exemplary embodiments are set forth below, these suturing devices and methods may be applicable to a wide variety of suturing operations, including open surgery, large and small cavity procedures, endoscopic procedures, microsurgeries (including for suturing of veins, arteries, tissues of the eye and the like), and many specialized surgeries. Embodiments of these devices and methods may be particularly useful for surgeries involving long incisions, including plastic surgeries. A wide variety of blood vessels, including both veins and arteries, may also be stitched using the techniques described herein, for formation of anastamoses and the like. Along with increasing the speed and/or ease of forming surgical suture stitches, embodiments of the invention will often maintain the control a doctor has over the placement of the sutures by maintaining a fixed relationship between the movements of the doctor's hand and the insertion and withdrawal of the suturing needle. Hence, among the procedures which may benefit from the invention are subcuticular peritoneum, fascia closure, and skin closure, and the like. Exemplary uses may include therapies in the fields of obstetrics and gynecological surgeries (including cesarean sections, hysterectomies, and the like), cosmetic surgeries, ophthalmic surgeries, and the like.

While embodiments of the invention may include (or be used within) a powered or automated system, optionally making use of electromechanical power, hydraulic power, or the like (for example, with some embodiments being included within a robotic system), other embodiments may be configured for manual manipulation by one or more hands of a surgeon, often without having to resort to complex subsystems or external power.

Many embodiments of the devices described herein will be sterilizable so as to allow repeated use. Sterilization may be effected using autoclave techniques, chemical sterilization, irradiation, or the like, with most or all of the structures of the suturing device being formed of materials suitable for repeated sterilization (such as stainless steel, other metals and alloys, and the like). In general, the suturing device may also comprise one or more plastics and/or metals common to surgical devices. Although specialized or proprietary suturing needles may be employed in some embodiments (for example, needles having flat gripping surfaces so as to maintain an alignment between the needle and an associated clamp), many embodiments of the suturing device will be suitable for use with standard off-the-shelf suture needles such as those packaged with any of a wide variety of permanent or resorbable suture materials in a hermetically sealed package. In fact, the invention may find some of its most immediate applications for facilitating surgical procedures performed manually in Third World countries, allowing physicians to treat a larger number of patients with greater ease than can be done using standard suturing techniques, but without the cost or complexity of recently-proposed automated suturing systems.

Referring now to FIG. 1, an exemplary suturing system 100 generally includes a suturing device 102 and a needle 1. Needle 1 generally has a proximal end 104 and a distal end 106, with at least the distal end being sharpened to facilitate insertion of the needle distally into and through tissues. Surgical needles are often formed with a curving shape between the proximal and distal ends, and are often packaged with a suture extending from proximal end 104, with the needle sometimes being referred to as an acus.

Suturing device 102 generally has a body 112 having a proximal end 108 and a distal end 110. A pair of clamps 3 are disposed near the distal end 110, while first and second handles 6, 8 are disposed near proximal end 108. Body 112 may include a proximal housing 7 and a distal extension 4. The distal extension may have a pair of channels, with each channel reciprocatably receiving a shaft 2 supporting an associated clamp 3.

In this embodiment, clamps 3 are mirror-symmetric, although they may alternatively have differing shapes. Clamps 3 are generally offset so as to grip axially offset portions of needle 1, with one of the clamps gripping a more proximal portion of the needle and the other clamp gripping a more distal portion of the needle. When handles 6, 8 are in a close-handed configuration as illustrated in FIG. 1, only one of clamps 3 will typically grip needle 1, the other clamp being retracted proximally away from the needle. Handles 6, 8 have openings for receiving fingers of the surgeon's hand, and the surgeon will typically actuate the handles by opening them from the closed-handed configuration shown to an open-handed configuration 114. Starting with handles 6, 8 in the closed (as shown in FIG. 1), when the handle is moved to open-handed configuration 114 and is then returned to the closed-handed configuration, the handle may be described as having completed an actuation cycle.

With each actuation cycle of handles 6, 8, the clamp 3 supporting needle 1 is alternated so that a needle initially supported by grasping the needle in first clamp along a proximal portion of the needle will, when handles 6,8 are in open-handed configuration 114, instead be supported by the second clamp along a more distal portion of the needle. As handles 6,8 move back to the closed-handed configuration to complete the cycle, the clamps again alternate, so that closing of the handle results in extension of the proximal clamp, gripping of needle 1 with that proximal clamp, release of the needle from the distal clamp, and retraction of the distal clamp. The position of needle 1 relative to body 112 may remain substantially fixed throughout the handle actuation cycle, although the shafts may move axially slightly as the needle goes from being held by one clamp, to both clamps, and then to the other clamp, with this movement of the needle being less than a length of the needle.

Referring now to FIGS. 1 and 2, handles 6, 8 are pivotally attached to housing 7 of body 112. Housing 7 generally includes at least one lid 9 (the top lid shown removed in FIG. 2), with the proximal housing preferably including opposed first and second lids 9 on opposed major surfaces of the body. Lids 9 and the other structures of housing 7 generally enclose a drive linkage 116 coupling handles 6, 8 to clamps 3. In the embodiment of FIGS. 1-9, drive linkage 116 generally includes a drive wheel 11 and two driven wheels 10 and 12. The driven wheels 10 and 12 are mirror-symmetric and joined by tie rods 14 and 21 to clamps 3.

Referring now to FIGS. 1-3, driven wheel 10 has a thrust surface 24, while driven wheel 12 has a stop surface 23 and an incline 22. The driving wheel is supported so as to rotate about an axle 20, the driving wheel also having a lug 13. The driving wheel 11 is coupled to handles 6, 8 by ties 18 and 19, so that actuation of the handles relative to the body 7 induces rotation of driving wheel 11 about the axle. The driven wheels 10, 12 rotate coaxially with driven wheel 11.

Lug 13 generally comprises an alternatable configuration driving element. Lug 13 either drivingly couples driving wheel 11 with driven wheel 10, or with driven wheel 12, depending on the configuration of lug 13 at the time. More specifically, when lug 13 is disposed above a guide 15 as shown in FIG. 2, the lug drivingly couples the driving wheel 11 with the upper driven wheel 10. When lug 13 is disposed below guide 15, the lug drivingly engages driven wheel 12, and is disengaged from driven wheel 10. A reset or release input button 16 interacts with guide 15 and a spring-loaded positioning arm 17 so as to allow both clamps 3 to release needle 1.

As can be understood with reference to FIGS. 1-4, each clamp 3 is connected by an associated shaft 2 to the remaining components of drive linkage 116. Shafts 2 each include a lengthwise slot 118 (see FIG. 4), which allows the shaft to move within the channels of body extension 4. Guiding pins 32 ride in slots 118, and the guiding pins 32 are also fixed in extensions 4 within openings 5.

Moving wedges 31 within shafts 2 also have lengthwise slots 118 for receiving guiding pins 32. The wedge surfaces of moving wedges 32 engage corresponding surfaces of working jaws 25, with the working jaws forming the open and closable structure of clamps 3. More specifically, distal movement of moving wedge 31 against a corresponding surface of working jaws 25 closes clamps 3, the working jaws being attached to a distal clevis of shaft 2 by axle 27. A spring ring 30 biases working jaws 25 to an open configuration, allowing them to move around and capture needle 1 before the working jaws are forced shut by the moving wedges.

Working jaws 25 may have a variety of surfaces for holding needle 1, the clamps preferably holding the needle so that movement of the needle relative to suturing device 100 is inhibited during stitching. The surfaces of working jaws 25 may be hardened by deposition of diamond or a diamond-like carbon, or inserts 26 of a material harder than that of working jaws 25 may be provided. Optionally, working jaws 25 may have hard-surfaced inserts comprising tungsten and/or cobalt, with the inserts optionally being fabricated using powder sintering or the like.

A return spring 28 extends between pin 28 in working jaws 25 and the guiding pin 32, with the return spring partially fixed within a lumen of moving wedge 31. A spring 34 in the proximal portion of moving wedge 31 is held by a plug 37, with the distal end of spring 34 interacting with shaft 2 via thrust ring 33. Spring 34 can bring the moving wedge 31 into a position suitable for releasing the working jaws. A compensation spring 36 pressed against plug 37 writes on a rod 35 of a pusher 42 so as to maintain a desired axial force. Pusher 42 has an insert 40, which is connected with the pusher 42 by pin 39 and lug 38. The lug rotates about axle 41.

When handles 6 and 8 are moved apart to an open-handed configuration 114, a retracted clamp 3 and its associated shaft 2 moves from within a channel of body extension 4. While retracted, the moving wedge 31 is biased by spring 34 away from working jaws 25, so that spring ring 30 is free to open the clamp to allow it to extend around needle 1. Extension of compensating spring 34 may be at its greatest point while the associated clamp 3 is retracted, and insert 40 extends from pusher 42 with lug 38 in the insert.

As handles 6 and 8 are brought together, driving wheel 11 is turned by connector ties 18, 19. Lug 38 interacts with thrust surface 24 of driven wheel 10 and moves the driven wheel 10 in rotation. The motion of driven wheel 10 is transferred by tie rod 14 so as to move insert 40 axially along body extension 4. The insert, in turn, moves the pusher 42 along body extension 4, the relative position of the insert 40 and pusher 42 being maintained by an inner surface of shaft 2 interacting with plug 30 so as to inhibit rotation of the plug about axle 41. Pusher 42 presses spring 34 and compensation spring 32, and via plug 37 and thrust ring 33, moves shaft 2. The movement of shaft 2 overcomes spring 29 and extends the shaft from the channel of body extension 4.

During distal movement of pusher 42, spring 34 and compensating spring 36 are sufficiently stiff so as to inhibit elongation, as their spring coefficients are significantly higher than that of return spring 29. However, engagement between an end of slot 118 in shaft 2 and guiding pin 32 eventually inhibits further distal movement of the shaft.

Once shaft 2 has stopped its distal movement (due to engagement of lengthwise slot 118 with guiding pin 32), spring 34 begins to contract, its rigidity being lower than that of compensating spring 26. As a result, moving wedge 31 begins to extend distally relative to working jaws 25, the corresponding surfaces of the wedge and working jaws sliding against each other so as to move the proximal ends of the working jaws apart and bringing the distal needle gripping inserts 26 of working jaws 25 together so as to grasp needle 1. As spring 34 contracts, contraction of compensation spring 36 also begins and the insert 40 moves. When lug 38 extends into and/or engages window 2 a of shaft 2, pusher 42 engages a surface of body extension 4 or proximal housing 7, and axial movement of the pusher stops. Insert 40 continues moving, so that lug 38 rotates around axle 41. The lug interacts with an edge of shaft 2 and, overcoming compensation spring 36, starts to draw shaft 2 and its contents into body extension 4.

The clamping three on needle 1 by clamps 3 may be determined by the spring characteristics of compensating spring 36 so as to remain within a desired range. Advantageously, the clamping force imposed by suturing device 100 on needle 1 may correspond to forces applied by standard needle holders. Thrust surface 23 of driven wheel 12 approaches a tooth of spring-loaded fixing arm 17, and overcoming the spring, the thrust surface passes under the tooth, releasing the tooth so that the tooth and thrust surface are positioned for neutral engagement. After the thrust surface 23 of the driven wheel 12 passes beyond the tooth of spring loaded fixing arm 17, engagement of the thrust surface and tooth inhibit the return of the driving linkage 116 to its prior configuration, thereby inhibiting the release of needle 1 from the closed working jaws 25 so that the needle is not dropped.

As handles 6, 8 continue to move toward the open-handed configuration of the handle actuation cycle, movement of driven wheel 12 is inhibited by spring-loaded fixing arm 17. Driving wheel 11 nonetheless turns, and is reset. More specifically, incline 22 of driven wheel 12 moves lug 13 from a configuration above guide 15 to a configuration in which the lug is disposed under the guide. Hence, when handles 6, 8 continue to move, here towards a closed-handed configuration, the lug 13 will interact with thrust surface 24 of the driven wheel 10. The description above regarding driven wheel 12 is thus repeated but with driven wheel 10 instead. When moving under the spring-loaded fixing arm 17, the thrust surface 23 of driven wheel 12 lifts the spring-loaded fixing arm 17 and releases driven wheel 10.

By action of spring 34, moving wedge 31 is retracted proximally from between the proximal ends of working jaws 25, so that the proximal ends of the working jaws are brought together by spring-loaded ring 30. Distal ends of working jaws 25 thereby move apart and the needle is released.

Each repeated opening and closing actuating cycle of handles 6, 8 alternates the needle between being held by one, and then the other of clamps 3, and often back to the first clamp. In other embodiments, each handle actuation cycle effects transfer of the needle from one clamp to the other, with the needle returning to be held solely by the first clamp only with a second handle actuation cycle. Regardless, during each cycle each retracted clamp is preferably extended around an associated portion of needle 1 and is closed before the previously extended clamp opens, so that the needle is held continuously by at least one of clamps 3 throughout the handle actuation cycle.

If it is desired to release needle 1 from suturing device 112 at any time during, before, or after a handle actuation cycle, release can be effected by pressing on release input button 16. Pressing on button 16 causes spring-loaded fixing arm 17 to lift away from driven wheels 10 and 12, thereby resetting the clamps in their proximal opened configuration.

Referring now to FIGS. 5-9, the use of suturing device 102 for suturing an incision I in tissue T can be understood. Initially, handles 6, 8 (see FIG. 1) are in a closed-handed configuration and the handles are grasped by a hand of a surgeon. Needle 1 is supported by a first clamp 3 a, with the first clamp grasping a proximal portion of the needle adjacent a suture S. The second clamp 3 b is retracted proximally away from needle 1, so that a distal portion of the needle is free and exposed, as illustrated in FIG. 5.

As can be understood with reference to FIG. 6, the surgeon manually moves suturing device 102 by manipulating handles 6, 8 so as to insert a distal portion of suturing needle 1 through tissue T. Advantageously, body 112 and linkage 116 (see FIG. 2) of suturing device 102 inhibits relative movement of needle 1 relative to the body and handles 6, 8 of the suturing device while the handles are closed. This allows the surgeon to precisely control movement of the needle 1 as it is inserted through the tissue, in a manner analogous to manual manipulation of the needle using a standard needle grasper or forceps. As can be understood with reference to FIGS. 6 and 7, once the distal portion of needle 1 extends sufficiently through the tissue, handles 6, 8 can be cycled through at least a portion of their actuation cycle. Through the linkage 116, second clamp 3 b is extended distally from body 112 of suturing device 102, grasping the distal portion of needle 1. The first clamp 3 a then releases needle 1 and is withdrawn proximally from around the needle, as illustrated in FIG. 8.

As can be understood with reference to FIGS. 8 and 9, once needle 1 is held by second clamp 31), the surgeon can again manipulate the needle by moving handles 6, 8. In some embodiments, the surgeon can grasp the handles in an open-handed configuration while pulling the needle free from the tissue, while in other embodiments the needle will be pulled after the handle has returned to the closed-handed configuration. Regardless, the surgeon uses the handles, body, and clamp 3 b to pull the proximal portion of needle 1 through tissue T, thereby leaving suture S inserted across incision I.

Prior to initiating a second stitch, the surgeon can cycle handles 6, 8 by closing the handles with his/her hand, or by opening and closing the handles through a full actuation cycle. This results in grasping of needle 1 by first clamp 3 a and release of the needle by second clamp 3 b, exposing the distal portion of the needle and displacing the second clamp from the needle so that the needle is ready to again insert through tissue T, as can be understood with reference to FIG. 5. The process can then be repeated without ever having to completely release needle 1, and by simply actuation of handles 6, 8 after insertion of the distal portion of the needle through the tissue and again after each pulling of the needle free. The process is repeated to form as many stitches as is desired. Analogous insertion of the distal portion of the needle through loops of suture, actuation of the handle, and pulling the needle free can be used to quickly and easily form knots.

As can be understood from the illustrations in FIGS. 5-9, and as may be indicated by the detailed description above of the articulation of the drive linkage, shafts 2 extending distally from body 112 to clamps 3 a, 3 b may move slightly during the handle actuation cycle, for example, with the shaft supporting the clamp initially holding needle 1 retracting slightly into body 112 as the other shaft extends. Nonetheless, each clamp holds the needle at a fixed location while the surgeon holds the handles 6, 8 in the closed configuration and inserts or withdraws the needle into or from the tissue.

Referring now to FIG. 10, a wide variety of alternative linkage mechanisms, clamp structures, housing, handles, and the like may be employed, as more fully described in US Patent Publication No. 2007/0060931. For example, as seen in FIG. 10, an alternative suturing device 130 may include clamps 43, 44 which both retract proximally and rotate away from needle when not used to hold the needle.

Referring now to FIGS. 11A and 11B, an alternative suturing device system 202 may include many functional components which are similar to those described above, but can generally be separated into a reusable drive unit 204 and a disposable clamp unit 206. A releasable coupler 208 releasably couples clamp unit 206 to the drive unit 204. The exemplary coupler includes an interface that provides rigid coupling between extensions 210 of the clamp unit 206 and proximal housing 212 of drive unit 204, and also provides moving engagement surfaces between the shafts of the clamp unit and axially moving elements of the drive linkage. While the exemplary releasable coupler 208 includes axial positioning surfaces (in the form of a pin of drive unit 204 and corresponding aperture of clamp unit 206) and a releasable latch to avoid inadvertent decoupling, a wide variety of alternative releasable couplers might also be employed. The exemplary clamp unit includes two clamps. In some embodiments, each clamp may be individually attached to a drive unit 204. Regardless, allowing the clamps to be detached from the drive unit can avoid any need for making the clamps sterilizable, decreasing overall costs of the suturing system and helping to ensure that cross-contamination between patients is inhibited. A plurality of clamp units 206 will often be used with each drive unit 204, with each clamp being used for a single patient and then being disposed of.

Referring still to FIGS. 11A and 11B, a variety of alternative latch mechanisms may allow quick attachment, removal, and/or replacement of the clamp unit 206 from the proximal portion 204 of device 202. For example, rather than a hinged housing portion cooperating with a pin as illustrated, a slidable housing portion may slide distally over the clamp unit interface, and optionally over some or all of the pin. A variety of different clamp units 210 may also be provided, with the clamp units optionally having different clamp geometries to accommodate different needle sizes, such as by having different offsets between the jaws when the clamps are in the closed configuration to accommodate different needle thicknesses, different separation distances and/or angular offsets between the pair of clamps to accommodate different needle lengths, radii of curvature, or needle configurations, and/or the like. Similarly, a plurality of different clamp units may be provided with different body extension lengths, bend angles, or thicknesses, and/or the portion of the linkage disposed within the clamp unit may be configured to apply a different clamping pressure to the needles (such as by using different wedge or jaw geometry, using different springs to urge the jaws toward the closed configuration, or the like), providing a suture system that allows the user to flexibly and selectably configure the suture device for a particular surgery.

A still further exemplary suturing device embodiment 220 can be seen in side and cross-sectional top views in FIGS. 12A and 12B. An elongate extension 222 coupling proximal housing 224 to clamps 226 may facilitate use of suturing device 220 in endoscopic surgery or the like. In this embodiment, actuation of drive linkage 228 is generally effected by movement of a single articulatable handle 230 relative to a grasping base 232 that is affixed to proximal housing 224. By allowing the surgeon to grasp a structure that remains rigidly affixed relative to the suturing device body with one portion of the hand, and articulate handle 230 with the fingers of that hand, the overall position of suturing device 220 (and clamps 226, along with any needle supported therein) can be accurately maintained. As with the other embodiments described herein, a release 233 will often be provided that, when actuated, releases a needle from both clamps and sets the two clamps in a needle-receiving configuration.

The components and use of drive linkage 228 of suturing device 220 can be understood with reference to FIG. 13 and FIGS. 13A-1.3. As generally described above, drive linkage 228 includes an alternatable drive element 230 for alternating the driving of first one and then the other of the two clamps. Additionally, drive mechanism 228 includes an alternating latch or anchor 232 for inhibiting axial movement of the clamp that is not currently being driven. Drive linkage 228 further makes use of a channel casing 234 in which a movable tubular shaft 236 slides along an axis 238. First and second pushers 240, 242 and a cone with a rod 244 are disposed along axis 238, while a striker 246 and a stop pin with a spring 248 are disposed off of axis 238.

Reviewing the sequence of actuation of these components schematically, FIG. 13A shows the components of drive linkage 228 at a beginning configuration (such as after actuation of the release), with both clamps 226 in a configuration that is open and ready to receive a needle. In FIG. 13B, alternatable drive element 230 drives a first shaft 236 distally along its axis till the shaft engages pin 248. Needle 250 is disposed within the clamp, with the alternatable drive element 230 continuing to move axially with movement of the handle.

In FIG. 13C, continuing movement of drive element 230 has produced axial movement of pin 248 so as to compress its spring, so that the pin stops moving axially. As a result, continuing movement of drive element 230 does not produce additional movement of shaft 236, but instead causes the cone with its rod 244 to move within the shaft 236 till it reaches its distal position, as shown in FIG. 13D.

Additional movement by drive element 230 results in axial movement of pushers 240, 242, causing the striker 246 to move into alignment with a window in the shaft 236, and thus allowing the striker to engage and reposition latch 232. As the reconfigured latch 232 inhibits proximal movement of shall 236, the handle may be returned (often to its extended position, as can be understood with reference to FIG. 13F) without movement of shaft 236.

Once the handle returns to its starting or extended position, needle 250 may be inserted into and through the tissue. Returning of the handle also reconfigures alternatable drive element 230 to engage the other, previously non-driven clamp actuation components, with the other shaft 236 again moving distally along its axis due to movement of the handle to engage and compress pin 248 (as seen in FIGS. 13H and 13I), inducing axial movement of the cone and rod 244 and allowing the associated striker to again reconfigure the alternatable latch 232 (see FIGS. 13,1 and 13K). Reconfiguring the latch allows the extended, non-driven clamp 226 to retract proximally to the configuration shown in FIG. 13L under the influence of its proximal return spring, this retraction optionally occurring quite quickly. The handle may now again be released, with the reconfigurable drive element 230 again being reset to alternate the driven and latched clamps, as shown in FIG. 13M.

Structures and methods which inhibit gradual displacement of needle 250 relative to suturing device 220 during repeated cycling of drive linkage 228 can be understood with reference to FIGS. 13I and 13K. As each clamp 226 is extended to grasp needle 250, the clamp advances distally slightly beyond the eventual location at which the clamp will hold the needle for suturing. This stresses and/or displaces the needle slightly, and the clamp then grasps the needle at the extended location. The extended location will typically be less than 20 diameters of the needle past the other clamp, typically being a few needle diameters distal of the other clamp (smaller needles generally employing smaller stress-inducing distances). The grasping clamp that is to retain needle 250 is retracted slightly to the grasping location and the other clamp is opened, so that needle 250 is positioned for the next cycle, i.e., so that the other clamp will again stress the needle before it is grasped. This slight alternating overshoot during grasping of the needle helps maintain the needle near the proximal end of the grasping jaws during cycling. The needle may also be manually pre-angled by the surgeon, either proximally or distally, to facilitate proximal or distal suturing. For example, the distal tip of the needle may extend or angle distally of the grasping clamps, rather than the needle being disposed perpendicular relative to the axes of the shafts. Cycling of drive linkage 228 will largely reproduce and maintain the grasping angle as the clamps alternatingly grasp the needle, with some gradual trend toward a perpendicular needle induced by the alternating overshoot during large numbers of actuator linkage cycles (for example, with movement of the distal portion of the needle proximally along the jaws by a few needle diameters or less with each cycle). Hard metal inserts with small protrusions or teeth along the grasping jaw surface may also be beneficial to limit inadvertent movement of the needle relative to the jaws.

Referring now to FIGS. 14A-14C, a wide variety of alternative suturing device clamping arrangements may also be employed. An axially concentric suturing device 260 is particularly well suited for use with a ski-jump needle 262. Such needles may comprise a proximal straight section and a distal curving section, and may be commercially available from a number of suppliers with suture affixed thereto (not shown). A proximal clamp 264 and distal clamp 266 have clamping jaw members which separate and rotate away from needle 262 to allow the needle to be inserted into tissue (in the configuration of FIG. 14A). The drive system may transfer the needle between the two clamps (FIG. 14B), and allow the needle to be pulled distally free of the tissue (in the configuration of FIG. 14C), with the clamps opening and closing with the cycling of a handle using drive elements that may be similar to, analogous to, or quite different than at least some of the drive components described above.

Referring now to FIG. 15, an alternative suturing device 270 may make use of many of the drive components described above, but may include a single clamp 272. Rather than passing a needle back and forth between two clamps, suturing device 270 may be used in a manner analogous to standard needle drivers, and may be particularly well suited for use in the endoscopic or other minimally invasive surgeries.

FIG. 16 schematically illustrates a suturing device 280 similar to that of FIGS. 12A and 12B, with extension 282 between clamps 284 and proximal body housing 286 here having a bend 288. While such suturing devices may optionally be sold in a pre-bent configuration, bend 288 may alternatively be imposed by a surgeon, with the surgeon manually (or optionally, with the assistance of one or more tools) bending the extension (or another structure supporting the clamps) to a desired configuration for use in a surgical procedure on a particular patient. Extension 282 may be formed of a material (typically comprising a metal or polymer) which can withstand bend 288 while maintaining structural integrity of the suturing device, and the drive components which move within bend 288 (such as the axially movable shaft, rod with a cone, or the like) may be formed of a material (or having a configuration) which can accommodate lateral deflection within the bent tubular extension during the actuation, such as by forming drive components of a suitable polymer, making use of at least a portion of the drive components which are formed as a helical coil, including thin, flexible sheet metal components, or the like. In general, reconfiguring the drive components or support structures to employ bent sheet metal parts may also help reduce manufacturing costs, and the like. Hence, the shaft may (for example) comprise a sheet metal structure with end tabs having openings to receive components therein, and/or the like. The positive control or positioning of clamps 284 which can be available using a grasping base that's originally affixed to the body housing 286 when suturing device 280 is held by a hand H of a surgeon can also be understood with reference to FIG. 16.

Referring now to FIG. 17A-D, another alternative suturing device 402 has a housing with an extension extending along an axis 406 from a proximal handle 408 to a distal clamp 410. A linkage mechanism 412 transmits motion from handle 408 to clamp 410, via axial movement of a shaft 414, the shaft here being formed as an axial series of ball elements 416. Each ball element may, for example comprise a spherical structure, with or without an indentation to receive an adjacent ball element and allow sliding motion therebetween. Regardless, the shaft is stiff in compression to allow the linkage to push a wedge between sliding surfaces of the jaw structure, as can be understood from the description above and the side cross-sectional illustration of FIG. 17C. A top view of the clamp 410 is seen in FIG. 17B.

Extension 404 is plastically bendable, allowing the user to impose a custom bend on axis 406. The metal or other plastically bendable material of the extension will, when bending with shaft 414 therein, avoid kinking or collapsing so as to interfere with articulation of linkage 412. The user will grasp and articulate the handle with the fingers and the thumb of the hand, and a simple ratchet 422 (see FIGS. 17A and 17D) can releasably maintain the clamp in the grasping configuration.

Suturing devices having bendable or pre-bent extensions may find use in a wide range of open and minimally invasive surgical procedures, including endoscopic procedures, therapies of the ear, nose, and throat (ENT procedures), particularly for oral surgery and the like. Bendable or pre-bent devices and structures may be combined with suturing devices and systems described above, including those having a plurality of differing alternative clamp units to allow configuration of the suturing device for a particular therapy or patient, including clamp units having single clamps, multiple clamps of a similar type, multiple clamps of different types, and the like. Other capabilities may also be included, such as including a light cable or waveguide supported by and extending along the extension to help illuminate the workspace, including aspiration and/or irrigation lumens that extend axially along the extension, or the like. Hence a wide variety of alternative devices, systems, and methods may be employed.

Referring now to FIGS. 18A-18C, an alternative embodiment of a suturing assembly 502 may include a drive unit 504 supporting a clamp unit 506 via a quick-disconnect interface 508. As described and shown above in FIGS. 11A and 11B, a handle 510 of the drive unit may articulate relative to a drive unit body 512 so as to articulate the clamps via a linkage, with a portion of the linkage being supported by the drive body and a portion being integrated into the clamp unit. Coupling of a shaft portion of the drive unit to a corresponding shaft portion of the clamp unit (with the shaft of the linkage articulating the clamps as described above) may be facilitated, for example, by having springs which position the shaft portions of the clamp unit in preparation for engagement, by having axially engagement surfaces which laterally receive and axially position the shaft portions relative to each other, and the like (as can be seen in FIGS. 18A-18C, 24A, and 24B). An axial positioning feature (such as a laterally extending post or the like) and associated receptacle of interface 508 can axially position a body of the clamp unit relative to the drive unit body 512, with coupling of the interface being maintained in the embodiment of FIG. 18A-18C by sliding a cover distally 514 so as to laterally restrain the clamp unit.

Referring now to FIG. 19, a suturing system 520 employing many of the components of FIGS. 18A-18C can facilitate suturing with any one or more of a relatively large suture needle 522 a, a medium size suture needle 522 b, and/or a small suture needle 522 c. More or fewer needles may be used, and the needles may vary in both size and type. The needles may also each have a standard size or type identifier, exemplary needles comprising a CTX, a CT-1, a PS-2, and/or the like, with the needle geometry (such as the needle length, any angular arc defined by the needle, the radius of curvature of the arc, the thickness of the needle, and the like) varying with the needle identifier. Each needle used with the system will have at least one clamp unit 522 a, 522 b, 522 c associated therewith, with the clamp unit having a geometry suitable for use with the associated needle geometry.

When it is desired to make use of a needle of a particular size (such as a CT-1), the associated clamp unit is then selected and mounted to the drive unit 504. As the clamps of the clamp unit are correctly positioned for use with the needle, the system can be used to manually suture a first target tissue by cycling the handle to alternate between clamps, moving the drive unit body to effect corresponding movements of the needle into and then out of the tissue, and the like (as described above). When it is then desired to target a different target tissue that would benefit from a different needle size, a new clamp unit is selected based on the new needle size. The prior clamp unit is removed and replaced from the interface of the unit, with the new clamp unit, having different clamp geometries which correspond to those of the newly selected needle. The suturing may then proceed by cycling the handle to alternate clamps, etc. Once the patient has been closed, the clamp units may be disposed of to avoid cross-contamination, and the drive unit may be sterilized. Alternative methods may sterilize and/or otherwise process (such as by reconditioning remanufacturing or the like) some or all of the clamp units for use with one or more other patient, for example, so long as the clamp units are within acceptable condition for safe use.

Referring now to FIGS. 19 and 20A-20C, additional aspects of the correspondence between clamp geometry and needle geometry are illustrated. For example, there may be a relationship between the appropriate spacing and angular offset of the clamps for a particular needle, so that one or both may varied between different clamp units for different needle sizes. Needle 522 b is held by clamps 524 b, 526 b of clamp unit 506 b. Needle 522 b has an axis 528 that curves along an arc angle and axial arc length between the clamps. The clamps are angularly offset by angle 530 b. As needle 522 a is larger, the angular offset 530 a between clamps 524 a, 526 a of clamp unit 506 a may differ from that of the clamp unit 506 b. Maintaining separation between the clamps of different clamp units allows the use of a drive system which actuate the clamps along parallel actuation axes. However, to fully take advantage of the ability of larger needle 522 a to place larger stitches in a suture, the spacing between clamps may be increased, as seen by the distance between clamps 524 a′, 526 a′ in FIG. 20C. A wide variety of additional aspects of the clamp units may be tailored to the associated needle size, type, and/or geometry. For example, large needles may benefit from increased gripping force to withstand the moments and forces imposed when suturing, while smaller needles may benefit from lighter gripping forces so as to inhibit excessive stress and strain on the needles (particularly when the smaller needles are highly curved with axes defining small radii). Typical gripping forces may be between about 2 and about 50 pounds, optionally being between about 5 and about 40 pounds, and in the same cases may be about 30 pounds for medium sized needles, with much smaller needles optionally being less and much larger needles optionally being more. Separation distances between the gripping surfaces of the clamps may decrease to accommodate thinner needles, the size and/or configuration of the gripping surfaces may be varied, and the like.

FIGS. 21A-21C illustrate an embodiment of a suture system 540 having a clamp unit 512 with separately movable extensions 544 a, 544 b, for each clamp. In this embodiment, each extension 544 a, 544 b is supported by a clamp unit body 546 via a cam-and-follower arrangement 548, so that when the clamps are distally extended for grasping needle 522 a, they angle outwardly away from each other (moving from the drive unit toward the needle). This will facilitate grasping of different, length needles with different clamp separation distances while still using a common drive unit 550. Note that the angle need not be defined at all times by the clamps and their associated support and actuation structures, particularly when they are retracted proximally from the needle. As can be understood with reference to FIGS. 22A and 22B, clamp separation distances 552 a, 552 b may be different for different clamp units 554 a, 554 b used with different sized needles, even when the angles 556 between extensions are the same, particularly when the extensions are significantly different in length.

Referring now to FIG. 20C and the related views ZZ of FIGS. 23A-23C, the alternating overshoot or slight deformation of the needle prior to grasping the needle with each clamp described above may help to both position the needle relative to the clamps and orient the needle relative to the clamps, even when different needles are used with the same drive unit. As generally described above, each clamp unit has a first clamp and a second clamp, and each clamp has a fist jaw with a gripping surface, a second jaw with a gripping surface, an openably jaw aperture 560 between the gripping surfaces, and at least one jaw back surface 562 extending between the jaw surfaces opposite the jaw aperture. As can be understood from the above (in large part with reference to FIGS. 11A, 11B, and 13A-13M), the linkage portion of the drive unit operationally couple the clamps of the mounted clamp unit so that a first cycling of the linkage portion of the drive unit drives the first clamp 526 a′ distally beyond a needle gripping location (seen in FIG. 23A) so as to promote engagement between the jaw back surface of the first clamp 526 a′ and the associated needle 522 a (seen in FIG. 23B). The first clamp is then closed so as to engage the gripping surfaces of the first clamp against the associated needle. Clamp 526 a′ then retracts back to the needle gripping location (see FIG. 23C), and the second clamp 524 a′ can be opened and proximally withdrawn.

The overshoot draws or walks the needle back into the back surface of the jaw (so as to position the grasped portion of the jaw in space). The clamping of the needle in the jaws also tends to axially align the orientation of the jaw articulation axis with the adjacent needle axis, and repeating the overshoot and grasp process with the other clamp 524 a′ (which is angularly and positional offset from clamp 526 a′) may accommodate and correct for both positional and orientational misalignment between the needle and clamps. This may avoid any need to rely entirely on groves or notches in the gripping surfaces that could cause the needle to be dropped when misalignment occurs. While the precise position of the clamps axially along the needle may be less tightly controlled by this approach than the other degrees of freedom of the needle, the system is quite tolerant in that orientation, for example, being very workable despite having the system user manually positioning of the clamps anywhere along a relatively wide axial range of the needle.

Referring now to FIGS. 24A-24C, articulation of clamp unit 542 of FIGS. 21A-C is shown in an initial position with the clamp 570 grasping a CTX needle in FIG. 21A. The extension structure supporting extended clamp 570 angles distally outwardly. While the structure supporting the retracted clamp 572 is parallel to a midline of the system. As the system cycles, cam-and-follower arrangement 548 causes the extension supporting clamp 572 to also angle outwardly as you move distally along the extension, with the clamps extending along axes having an angle 576 therebetween when both are grasping the needle 574 as seen in FIG. 24B. Clamp 572 then retracts and moves toward the mid-line to complete the alternating of the clamps.

Note that FIGS. 24A-24C also show indicia 580 of a needle size associated with the clamp unit on the clamp unit body. Alternative indicia of the associated needle is also seen in the mounted clamp unit of FIG. 25C. The exemplary indicia shown may reference needles (and/or the associated suture) commercially available from Ethicon, a Johnson & Johnson company, though alternative indicia reference needles from other suppliers, or may be generic regarding the needle source. Such indicia may comprise a written indication of or identifier for the associated needle, a color code associated with the needle size, a proprietary or generic needle code, needle name, needle symbol, needle number, or the like. A range of needle sizes, shapes, or types may be associated with the indicia of a single clamp unit, or the indicia may be specific to a particular needle geometry from a particular supplier. The indicia may reference a single needle or list a plurality of needles of different needles from different manufacturers, or may reference a separate chart, listing, or description of multiple needles compatible with the clamp unit. The indicia may graphically indicate acceptable needle sizes, for example, by including a scale, illustrations of minimum and maximum compatible needle sizes for comparison to an actual needle, or the like. The indicia may reference the suture material pre-packaged with the compatible needle model by the needle supplier in some embodiments. The indicia may be embossed on the clamp unit, attached to the clamp unit as a sticker, painted on the clamp unit, or the like, and the clamp unit body may include a recess to receive the indicia. FIGS. 25A and 253 show two different and alternatively selectable claw units having different needle identifies thereon so as to facilitate selection of an appropriate clamp unit for a particular suture needle. In these embodiments, different cam-and-follower arrangements vary the clamp separations.

FIG. 26 shows yet another alternative clamp unit 580 that may be used in place of those of FIGS. 25A and 253 in the clamp system of FIG. 21A, with clamp unit 580 having an elongate extension body 584 extending between a drive unit interface 582 and the clamps. Such an extension body may be configured for endoscopic surgeries, such as by having a round cross-sectional shape suitable for insertion through a minimally invasive access port structure or the like. Extensions of alternative lengths, cross-sectional sizes, and the like may be provided on as to facilitate surgeries of different types using the same drive unit. In other embodiments, at least a portion of the extension may be incorporated into a drive unit intended for minimally invasive surgeries.

While exemplary embodiments of the invention have been described in detail, by way of example and for clarity of understanding, a variety of modifications, changes, and adaptations will be obvious to those of skill in the art. For example, along with the exemplary drive linkages described herein, still further drive linkages may be provided, including those making use of cables and pulleys, worm gears, and the like. Hence, the scope of the present invention is limited solely by the appended claims. 

What is claimed is:
 1. A suturing system for use with a first suturing needle or a second suturing needle, the system comprising: a body having a proximal end and a distal end; at least one clamp mountable near the distal end of the body; a linkage effecting a movement of the at least one clamp between a grasping configuration and a released configuration when the linkage cycles, the linkage having a first configuration and a second configuration, the linkage in the first configuration applying a first clamping suitable for suturing with the first suturing needle when the linkage effects movement from the released configuration to the grasping configuration, the linkage in the second configuration applying a second clamping suitable for suturing with the second needle when the linkage effects movement from the released configuration to the grasping configuration.
 2. The suturing system of claim 1, the first needle defining a first arc, the second needle defining a second arc different than the first arc, the suturing system further comprising: a first clamp unit and a second clamp unit, each clamp unit removably mountable to the body and including an associated plurality of clamps, the clamps sequentially grasping an associated needle when the clamp unit is mounted to the body and the linkage is cycled; wherein the clamps of first clamp unit define a first clamping offset angle corresponding to the first arc, and wherein the clamps of second clamp unit define a second clamping offset angle corresponding to the second arc, such that replacement of the first clamp unit with the second clamp unit reconfigures the linkage from the first configuration to the second configuration.
 3. A suturing system for use with a first suturing needle having a first needle geometry and a second suturing needle having a second needle geometry different than the first needle geometry, the system comprising: a drive unit having a body with a proximal end and a distal end; a first clamp unit mountable near the distal end of the body and including a plurality of clamps; a second clamp unit mountable near the distal end of the body and including a plurality of clamps; a linkage operationally coupling the drive unit to an associated clamp unit mounted thereon, the linkage effecting sequentially alternating grasping and releasing by the clamps of the first clamp unit when the first clamp unit is mounted to the drive unit and the linkage is cycled, the grasping of the first clamp unit corresponding to the geometry of the first needle; the linkage effecting sequentially alternating grasping and releasing by the clamps of the second drive unit when the second clamp unit is mounted to the drive unit and the linkage is cycled, the grasping of the second clamp unit corresponding to the geometry of the second needle.
 4. The suturing system of claim 3, wherein the clamps of the first drive unit are laterally separated so as to grasp the first needle near opposed ends of the needle, wherein cycling the linkage effects needle movement relative to the body which is insufficient to advance the first needle through tissue so that suturing can be effected by moving the body relative to the tissue.
 5. The suturing system of claim 3, wherein each clamp articulates with cycling of the linkage so as to grasp the needle laterally relative to a local axis of the needle, wherein the clamps of the first clamp unit are angularly offset by a first angle so as to accommodate a first arc angle of the first needle geometry between the clamps, and wherein the clamps of the second clamp unit are angularly offset by a second angle so as to accommodate a second arc angle of the second needle geometry between the clamps, the offset angle of the first clamp being different than the second offset angle of the second clamp.
 6. The suturing system of claim 3, wherein each clamp articulates with cycling of the linkage so as to grasp the needle laterally relative to a local axis of the needle, wherein the clamps of the first clamp unit separated by a first separation distance so as to accommodate a first arc length of the first needle geometry between the clamps, and wherein the clamps of the second clamp unit are separated by a second separation distance so as to accommodate a second arc length of the second needle geometry between the clamps, the first separation of the first clamp being different than the second separation of the second clamp.
 7. The suturing system of claim 6, wherein first and second extension portions of the first clamp unit each support an associated clamp, the first and second extension portions angling per an extension angle along a first length between the body of the drive unit and the first needle when in use.
 8. The suturing system of claim 7, wherein first and second extension portions of the second clamp unit each support an associated clamp, the first and second extension portions angling per the extension angle along a second length between the body of the drive unit and the first needle when in use, the second length being different that the first length.
 9. The suturing system of claim 3, wherein the clamp unit comprises polymer, and wherein needle engaging surfaces of the clamp unit comprise metal, the clamp unit comprising a disposable clamp unit.
 10. The suturing system of claim 3, wherein the drive unit comprises metal and is configured to withstand repeated sterilization.
 11. The suturing system of claim 3, wherein the each clamp unit has indicia of an associated needle size visible thereon so as to facilitate selection of an appropriate clamp unit for use.
 12. A suturing system for use with a plurality of differing suturing needles, the system comprising: a drive unit having a body with a proximal end and a distal end; a plurality of alternative clamp units releasably mountable to the distal end of the drive body, each clamp unit having a plurality of clamps for engaging an associated plurality of locations of an associated needle, the clamps of the clamp units defining different geometries so as to accommodate the differing needles and their use for suturing differing tissues.
 13. The suturing system of claim 12, each suturing needle being an off-the-shelf suturing needle having a standard size identifier associated therewith, wherein each clamp unit has a visible indicia of the size identifier of an associated needle. 